\doxysection{Motor\+\_\+\+Controller\+\_\+\+Init\+\_\+s Struct Reference}
\hypertarget{struct_motor___controller___init__s}{}\label{struct_motor___controller___init__s}\index{Motor\_Controller\_Init\_s@{Motor\_Controller\_Init\_s}}


电机控制器初始化结构体,包括三环\+PID的配置以及两个反馈数据来源指针 如果不需要某个控制环,可以不设置对应的pid config 需要其他数据来源进行反馈闭环,不仅要设置这里的指针还需要在\+Motor\+\_\+\+Control\+\_\+\+Setting\+\_\+s启用其他数据来源标志  




{\ttfamily \#include $<$motor\+\_\+def.\+h$>$}

\doxysubsubsection*{Public Attributes}
\begin{DoxyCompactItemize}
\item 
\Hypertarget{struct_motor___controller___init__s_a16b71450fbc27cd1f75619d79c377cc1}\label{struct_motor___controller___init__s_a16b71450fbc27cd1f75619d79c377cc1} 
float \texorpdfstring{$\ast$}{*} {\bfseries other\+\_\+angle\+\_\+feedback\+\_\+ptr}
\item 
\Hypertarget{struct_motor___controller___init__s_a0cd81f1f4bf889127bce48a66f690af4}\label{struct_motor___controller___init__s_a0cd81f1f4bf889127bce48a66f690af4} 
float \texorpdfstring{$\ast$}{*} {\bfseries other\+\_\+speed\+\_\+feedback\+\_\+ptr}
\item 
\Hypertarget{struct_motor___controller___init__s_acee4d1d483e7f570b32993866826beeb}\label{struct_motor___controller___init__s_acee4d1d483e7f570b32993866826beeb} 
float \texorpdfstring{$\ast$}{*} {\bfseries speed\+\_\+feedforward\+\_\+ptr}
\item 
\Hypertarget{struct_motor___controller___init__s_a0a9820a6e58b56294132ffc5ea723282}\label{struct_motor___controller___init__s_a0a9820a6e58b56294132ffc5ea723282} 
float \texorpdfstring{$\ast$}{*} {\bfseries current\+\_\+feedforward\+\_\+ptr}
\item 
\Hypertarget{struct_motor___controller___init__s_a5db789e7775d9c8db2cdb7348c3a0e0c}\label{struct_motor___controller___init__s_a5db789e7775d9c8db2cdb7348c3a0e0c} 
\mbox{\hyperlink{struct_p_i_d___init___config__s}{PID\+\_\+\+Init\+\_\+\+Config\+\_\+s}} {\bfseries current\+\_\+\+PID}
\item 
\Hypertarget{struct_motor___controller___init__s_ad925241e7cb3ccdec031d3d5ce97c10f}\label{struct_motor___controller___init__s_ad925241e7cb3ccdec031d3d5ce97c10f} 
\mbox{\hyperlink{struct_p_i_d___init___config__s}{PID\+\_\+\+Init\+\_\+\+Config\+\_\+s}} {\bfseries speed\+\_\+\+PID}
\item 
\Hypertarget{struct_motor___controller___init__s_a379d17b89fdc693dc9f54186c2d0d315}\label{struct_motor___controller___init__s_a379d17b89fdc693dc9f54186c2d0d315} 
\mbox{\hyperlink{struct_p_i_d___init___config__s}{PID\+\_\+\+Init\+\_\+\+Config\+\_\+s}} {\bfseries angle\+\_\+\+PID}
\end{DoxyCompactItemize}


\doxysubsection{Detailed Description}
电机控制器初始化结构体,包括三环\+PID的配置以及两个反馈数据来源指针 如果不需要某个控制环,可以不设置对应的pid config 需要其他数据来源进行反馈闭环,不仅要设置这里的指针还需要在\+Motor\+\_\+\+Control\+\_\+\+Setting\+\_\+s启用其他数据来源标志 

The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
\item 
C\+:/\+Users/\+ASUS/\+Desktop/dm-\/ctrl\+H7-\/balance-\/9025test/modules/motor/\mbox{\hyperlink{motor__def_8h}{motor\+\_\+def.\+h}}\end{DoxyCompactItemize}
